Bet the rear subframe diff bushing failed. Look for evidence of fluid leaking out where the diff connects to the subframe (see pic in the link above). Dealer will want to replace the $900 subframe plus the bushing and stupid amounts of labor
Just take it to a decent shop and they should be able to replace just the bushing for a couple hundred plus the Whiteline diff bushing set is like $100. Don't put in another fluid-filled OEM bushing that could just fail again.